Worm-like mechanism

Abstract

The invention relates to a worm-like mechanism comprising a support structure, which extends in the longitudinal direction of the mechanism, and at least two actuating units, which are arranged one behind the other in the longitudinal direction of the support structure and each of which has two supporting elements, which while extending transversely in relation to the longitudinal direction of the support structure are attached to the latter at a distance from one another in the longitudinal direction, and at least one actuating element, which is arranged between the supporting elements and by which the supporting elements can be moved in relation to one another. In order to provide a further worm-like mechanism, which provides precise open-loop or closed-loop control of its movements while in particular being of a simplified, slender construction, it is provided that the actuating elements can be activated individually or in group by way of a central line.

1. A worm-like mechanism having:
 a support structure extending in the longitudinal direction of the mechanism, and 
 at least two actuating units arranged one behind another in the longitudinal direction of the support structure, in which 
 each the actuating unit is assigned two supporting elements which are fitted mutually spaced apart in the longitudinal direction on the support structure in a fashion transverse to the longitudinal direction of the support structure, and 
 each the actuating unit has at least one hydraulic or pneumatic actuating element that is arranged between the supporting elements, is connected to a feed line for feeding a hydraulicor pneumatic working medium, and by means of which the supporting elements can be moved relative to one another, 
 wherein 
 each of the actuating elements is connected to the feed line via a valve that can be activated via a central line, and 
 each of the actuating elements at least contracts under appropriate pressure application. 
 
     
     
       2. The mechanism as claimed in  claim 1 , wherein the valves have a first open position for connecting the actuating element to the feed line, a closed position and a second open position for letting the working medium out of the actuating element, wherein in the second open position the valves connect the actuating elements to a return line or to an outlet line. 
     
     
       3. The mechanism as claimed in  claim 2 , wherein the valves can be switched by piezoelements. 
     
     
       4. The mechanism as claimed in  claim 1 , wherein each the actuating unit has a driver circuit that is connected via the central line to a central control circuit and that supplies switching signals for the valves of the actuating unit as a function of control information received from the central control circuit. 
     
     
       5. The mechanism as claimed in  claim 4 , wherein the driver circuit comprises an open-loop control information processing circuit that generates control signals for valve driver circuits switching the valves, as a function of the received open-loop control information. 
     
     
       6. The mechanism as claimed in  claim 4 , wherein each of the actuating units has one or more movement sensors whose output signals are detected by the driver circuit. 
     
     
       7. The mechanism as claimed in  claim 6 , wherein the driver circuit has a transmission circuit for transmitting the output signals from the one or more movement sensors to the central control circuit. 
     
     
       8. The mechanism as claimed in  claim 6 , wherein the driver circuit has a closed-loop controller circuit to which, as closed-loop control information, the open-loop control information received from the central control circuit and the output signals from the one or more movement sensors are fed, and that supplies open-loop control signals for the valve driver circuits switching the valves as a function of the closed-loop control information. 
     
     
       9. The mechanism as claimed in  claim 6 , wherein provided as the movement sensors are one or more strain gauges that are fitted on the support structure. 
     
     
       10. The mechanism as claimed in  claim 6 , wherein provided as the movement sensors are one or more plunger coils that are arranged between the supporting elements of the actuating unit to detect the relative movement thereof. 
     
     
       11. The mechanism as claimed in  claim 6 , wherein provided as the movement sensor is an optical position detector with a light source and a position-sensitive photoreceiver that are respectively arranged on elements of the actuating unit that can be moved toward one another, the position detector supplying an output signal corresponding to the relative movement between these elements. 
     
     
       12. The mechanism as claimed in  claim 1 , wherein pressure cylinders are provided as the actuating elements. 
     
     
       13. The mechanism as claimed in  claim 1 , wherein provided as the actuating elements are pneumatic or hydraulic working elements contracting under pressure. 
     
     
       14. The mechanism as claimed in  claim 13 , wherein the actuating elements supply a restoring effect upon pressure relief. 
     
     
       15. The mechanism as claimed in  claim 13 , wherein one or more oppositely actuating elements are assigned to each the actuating element of the actuating unit. 
     
     
       16. The mechanism as claimed in  claim 13 , wherein one or more restoring elements are assigned to the actuating elements. 
     
     
       17. The mechanism as claimed in  claim 1 , wherein the at least one actuating element is arranged in the actuating unit such that upon activation the actuating element effects a change in the length of the actuating unit. 
     
     
       18. The mechanism as claimed in  claim 1 , wherein two, three or more actuating elements are arranged in an actuating unit such that upon appropriate activation the actuating elements effect a defined tilting of the two supporting elements toward one another in a defined radial direction. 
     
     
       19. The mechanism as claimed in  claim 1 , wherein the at least one actuating elements is arranged in an actuating unit such that upon activation the at least one actuating element effects a rotation of the two supporting elements about the longitudinal direction of the support structure. 
     
     
       20. The mechanism as claimed in  claim 1 , wherein the supporting elements designed as supporting disks that have a passage for the central line. 
     
     
       21. The mechanism as claimed in  claim 1 , wherein the support structure has a continuously deformable tubular or hose-like carrier on which the supporting element are fastened at defined axial spacings. 
     
     
       22. The mechanism as claimed in  claim 1 , wherein the support structure comprises a plurality of similar support segments that are modularly interconnected. 
     
     
       23. The mechanism as claimed in  claim 22 , wherein the support segment comprises:
 a first supporting disk that is permanently connected to one end of a longitudinal carrier, and 
 a second supporting disk that is held pivotably or rotatably on the other end of the longitudinal carrier via an articulated connection, wherein 
 on a side of the first supporting disk, averted from the longitudinal carrier, the first supporting disk having fastening means for fastening a second supporting disk of an adjacent support segment. 
 
     
     
       24. The mechanism as claimed in  claim 22 , wherein the support segment comprises:
 a supporting disk permanently connected to one end of a longitudinal carrier, carrying an articulated bearing on a side of the supporting disk averted from the longitudinal carrier, wherein 
 on the other end of the longitudinal carrier, the longitudinal carrier carrying on an articulated member corresponding to the articulated bearing such that the longitudinal carrier of the actuating unit can be pivotably or rotatably supported in a articulated bearing on a supporting disk of a next actuating unit. 
 
     
     
       25. The mechanism as claimed in  claim 1 , wherein provided in one or more of the actuating units are tension spring or compression spring elements or tension spring and compression spring elements, that support the mechanism internally in order to balance static forces which are to be expected in a planned position of use of said mechanism. 
     
     
       26. The mechanism as claimed in  claim 13 , wherein artificial muscles are provided as actuating elements. 
     
     
       27. A modular actuating unit for a worm-like mechanism, having
 a first supporting plate and a second supporting plate, that extend transverse to the longitudinal direction of a longitudinal carrier, wherein
 the first supporting plate is permanently connected to one end of the longitudinal carrier, 
 the second supporting plate is held pivotably or rotatably or pivotably and rotatably on the other end of the longitudinal carrier via an articulated connection, 
 on a side of the first supporting place, averted from the longitudinal carrier, the first supporting plate has fastening means for fastening a second supporting plate of an adjacent actuating unit, and 
 
 at least one hydraulic or pneumatic actuating element that is arranged between the supporting plates, that can be connected to a feed line for feeding a hydraulic or pneumatic working medium, and by means of which the supporting plates can be moved relative to one another, wherein 
 each of the actuating elements can be connected to the feed line via a valve that can be activated via a central line, 
 each of the actuating elements at least contracts upon appropriate pressure application.